YASKAWA YRC1000 Instructions Manual page 425

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11 Safety Function
11.4 Functional Safety Functions
}
4. Current {Joint Data (in fig. 11-11 "Force / Torque Watch") values do
not exceed the data found in table 11-20 "Torque Sensor Torque Value
Inspection" .
If the current joint torques values exceed one or multiple values shown in
table 11-20 "Torque Sensor Torque Value Inspection" , the error in
external force calculation increases (thereby negatively affecting PFL
functionality). Thus, a re-calibration of torque sensor offset data is
required. Refer to"Calibrating Torque Sensor Offset Data" in chapter
11.4.10.4 "Daily Inspection".
Table 11-20: Torque Sensor Torque Value Inspection
Axis S L
Value 27.0 N•m 27.0 N•m 12.0 N•m 3.0 N•m
Daily inspection is recommended.
If any abnormalities related to the operation of PFL function(s) occur,
calibrate torque sensor offset data.
Calibrating Torque Sensor Offset Data
1. Navigate to {MENU}  {Safety Settings}  {Torque Sensor
Calibration}.
2. Prior to performing the calibration procedure, MOTOMAN-HC10 must
be moved to a position where the gravitational torque applied to the
manipulator (e.g. by a tool or other external loads) is near zero for all
axes. The following positions shown in the fig. 11-12 "Torque Sensor
Calibration Positions" are recommended for calibration of all axes
simultaneously.
Fig. 11-12: Torque Sensor Calibration Positions
HC10 Torque Calibration Pos. 1
(Home Position)
11-93
U R B
3.0 N•m
CAUTION
HC10 Torque Calibration Pos. 2
(U-axis: 180 degrees)
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3.0 N•m
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